JP7448397B2 - Surveying equipment and surveying systems - Google Patents

Description

The present invention relates to a surveying device and a surveying system that can obtain three-dimensional coordinates of a measurement target.

Generally, when conducting a survey, a measurement object, such as a retroreflective prism, is installed at a measurement point. In addition, the prism is sighted from a surveying device such as a total station or laser scanner installed at a known point, and the distance to the prism and the horizontal and vertical angles of the sighting direction relative to the known direction are measured, and the three-dimensional Measuring coordinates.

When guiding the prism to the next measurement point (staking point) during layout work, etc., while tracking the prism with the surveying device, refer to the direction of the next measurement point relative to the surveying device displayed on the operation terminal, etc. There is a method of guiding the prism to the next measurement point.

There is also a method of providing the surveying device with a guide light irradiation mechanism that allows the guide light to be visually recognized from the left and right with respect to the irradiation direction. In this case, with the surveying device visually confirming the next measurement point, the worker moves the prism to the vicinity of the next measurement point while visually checking the guide light, and when the prism approaches the measurement point, the surveying device appears to start tracking.

Furthermore, there is also a method that automatically specifies the position of a measurement point and irradiates the specified measurement point with visible light such as laser pointer light. However, in order to automatically specify the position of the measurement point, it is necessary to acquire point cloud data for the entire 360° circumference, and thus it takes time to acquire the point cloud data. Furthermore, since the amount of data to be acquired is enormous, it takes time to perform calculations to identify measurement points.

JP2017-90244A Japanese Patent Application Publication No. 2016-161411 Japanese Patent Application Publication No. 2016-151423 Japanese Patent Application Publication No. 2018-189576 JP 2019-100898 Publication

The present invention provides a surveying device and a surveying system that reduce data acquisition time and calculation time.

The present invention includes a main body of a surveying device, and the main body of the surveying device includes a distance measuring section that emits distance measuring light toward an object to be measured and measures a distance based on the distance measuring light reflected from the object to be measured. , an optical axis deflection unit capable of scanning the distance measuring light in at least one axis; a storage unit storing a two-dimensional map having position information of a plurality of measurement points; and operations of the distance measurement unit and the optical axis deflection unit. and a calculation control unit that controls the two-dimensional coordinates of the three-dimensional coordinates of each point obtained along the trajectory of the ranging light, excluding the height. The present invention relates to a surveying device configured to compare position information of the measurement point in a dimensional map and select a point within a preset threshold range from the position information of the measurement point as the measurement point. .

Further, in the present invention, the calculation control unit is configured to calculate a rotation angle from a predetermined measurement point to the next measurement point based on the two-dimensional map, and rotate the surveying device main body based on the rotation angle. This relates to surveying equipment.

Further, the present invention relates to a surveying apparatus further comprising a guide light irradiation unit that irradiates guide light, and the arithmetic control unit is configured to indicate the selected measurement point with the guide light.

The present invention also relates to a surveying apparatus in which the guiding light irradiation section is the distance measuring section, and the guiding light is visible distance measuring light.

Further, the present invention relates to a surveying apparatus in which the guiding light irradiation section is configured to irradiate a laser pointer light coaxially with the distance measuring light.

Further, in the present invention, the guide light irradiation section is configured to irradiate the laser pointer light with a known offset amount with respect to the optical axis of the ranging light, and rotates the surveying device main body in the left-right direction or the up-down direction. The present invention relates to a surveying device configured to rotate integrally with the surveying device main body by a rotation drive section.

Further, in the present invention, the optical axis deflecting section is a pair of optical prisms that are rotatable around the optical axis of the distance measuring light, and the optical axis deflecting section is a pair of optical prisms that are rotatable about the optical axis of the distance measuring light, and the rotation direction, rotation speed, and rotation ratio of the pair of optical prisms are controlled. The calculation control unit is configured to control the irradiation direction of the distance measurement light, and the calculation control unit controls the optical axis deflection unit so that the distance measurement light draws a circle with a predetermined radius around the selected measurement point. This relates to a surveying device configured in a similar manner.

Further, the present invention further includes a rotation drive unit that rotates the main body of the surveying device in the left-right direction or the up-down direction, and the optical axis deflection unit includes a scanning mirror that is rotatable in one axis around the optical axis of the distance measuring light. The arithmetic control section relates to a surveying apparatus configured to control the rotation drive section and the scanning mirror so that the selected measurement point is irradiated with distance measuring light.

Further, in the present invention, the calculation control unit selects the two points closest to the measurement point in the two-dimensional map from among the points obtained along the trajectory of the ranging light, and The present invention relates to a surveying device configured to calculate a point closest to the measurement point in the two-dimensional map as the measurement point on a line connecting the two-dimensional map.

The present invention also provides a surveying apparatus, wherein the arithmetic control unit is configured to issue an alarm when each point obtained along the trajectory of the ranging light is not within the range of the threshold value. This is related to.

The present invention also relates to a surveying apparatus, wherein the arithmetic control section is configured to control the optical axis deflection section so as to scan the ranging light in a direction perpendicular to a surface of a two-dimensional map. .

The present invention also provides a surveying system comprising a target device installed at a predetermined measurement point and a surveying device capable of tracking the target device, the surveying device emitting ranging light toward the target device. a distance measuring unit that performs distance measurement based on emitted and reflected distance measuring light from the target device; an optical axis deflection unit capable of scanning the distance measuring light in at least one axis; and position information of a plurality of measurement points. It has a storage unit that stores a two-dimensional map, and an arithmetic control unit that controls the operations of the distance measuring unit and the optical axis deflection unit, and the arithmetic control unit stores the measurement results of the target device and the two-dimensional map. The rotation angle to the next measurement point is calculated based on the position information of the measurement point in the map, and the surveying device is rotated based on the rotation angle, so that the measurement surface is set so that the distance measurement light passes through the next measurement point. Among the three-dimensional coordinates of each point obtained along the locus of the ranging light, the two-dimensional coordinates excluding the height and the two-dimensional coordinates of the measurement point in the two-dimensional map are The present invention relates to a surveying system configured to compare the positional information of the measuring point and select a point within a preset threshold range from the positional information of the measuring point as the measuring point.

Furthermore, in the present invention, the surveying device further includes a guide light irradiation unit that irradiates guide light, and the calculation control unit instructs the selected measurement point with the guide light, and The present invention relates to a surveying system configured to move the target device so that the lower end of the target device and the lower end of the target device coincide with each other.

According to the present invention, the surveying device main body is provided, and the surveying device main body emits distance measuring light toward a measurement target and performs distance measurement based on the distance measuring light reflected from the measurement target. a part, an optical axis deflection part capable of scanning the distance measuring light in at least one axis, a storage part storing a two-dimensional map having position information of a plurality of measurement points, the distance measuring part and the optical axis deflection part. a calculation control unit that controls the operation of the calculation control unit, and the calculation control unit includes two-dimensional coordinates excluding the height among the three-dimensional coordinates of each point obtained along the trajectory of the ranging light; The configuration is configured to compare the position information of the measurement point in the two-dimensional map and select a point within a preset threshold range from the position information of the measurement point as the measurement point. It is not necessary to scan the entire 360° circumference in order to select the points, and the time required to acquire point cloud data can be shortened, as well as the amount of acquired data can be reduced, and the calculation time can be shortened.

Further, according to the present invention, there is provided a surveying system including a target device installed at a predetermined measurement point and a surveying device capable of tracking the target device, wherein the surveying device measures a distance toward the target device. a distance measuring section that emits light and performs distance measurement based on reflected distance measuring light from the target device; an optical axis deflection section capable of scanning the distance measuring light along at least one axis; and position information of a plurality of measurement points. a storage unit that stores a two-dimensional map having a two-dimensional map; and an arithmetic control unit that controls operations of the distance measuring unit and the optical axis deflection unit, and the arithmetic control unit stores the measurement results of the target device and the two-dimensional map. A rotation angle to the next measurement point is calculated based on the position information of the measurement point in the two-dimensional map, and the surveying device is rotated based on the rotation angle so that the distance measurement light passes through the next measurement point. Among the three-dimensional coordinates of each point obtained along the locus of the distance measuring light by scanning along the measurement surface along one axis, the two-dimensional coordinates excluding the height and the measurement in the two-dimensional map The configuration is configured to compare the position information of the measurement point and select a point within a preset threshold range from the position information of the measurement point as the measurement point. There is no need to scan the circumference, and the time required to acquire point cloud data can be reduced, and the amount of acquired data can be reduced, resulting in excellent effects such as shortening calculation time.

FIG. 1 is a front view showing a surveying device according to a first embodiment of the present invention. 1 is a schematic configuration diagram of a surveying device according to a first embodiment of the present invention. FIG. 2 is an explanatory diagram illustrating measurement of a target device by the surveying device. (A) to (F) are explanatory diagrams illustrating the guidance processing of the target device according to the first embodiment. FIG. 3 is an explanatory diagram illustrating a case where the measurement surface is a wall surface in the first embodiment. It is an explanatory view explaining the relationship between a wall surface and a two-dimensional map. FIG. 3 is an explanatory diagram illustrating a case where the measurement surface is a wall surface having unevenness in the first embodiment. FIG. 2 is an explanatory diagram illustrating the relationship between a reference point set on a wall surface and a two-dimensional map. FIG. 3 is a front view showing a surveying device according to a second embodiment of the present invention. (A) to (F) are explanatory diagrams illustrating guidance processing for a target device according to the second embodiment. FIG. 7 is an explanatory diagram illustrating a case where the measurement surface is a wall surface in the second embodiment. FIG. 7 is an explanatory diagram illustrating a case where the measurement surface is a wall surface having unevenness in the second embodiment.

Embodiments of the present invention will be described below with reference to the drawings.

First, referring to FIG. 1, a surveying apparatus according to a first embodiment of the present invention will be described.

In FIG. 1, 1 indicates a surveying device. The surveying device 1 mainly includes a tripod 2 (described later) as a support device, a surveying device main body 3, and an installation base unit 4 as a support section. The installation stand unit 4 is attached to the upper end of the tripod 2. The surveying device main body 3 is supported by the installation base unit 4 so as to be rotatable in the vertical direction and the horizontal direction.

As shown in FIG. 1, the installation stand unit 4 has a stand portion 5 and a pedestal 6. As shown in FIG. A left-right rotating shaft 7 projects from the lower surface of the pedestal portion 5, and the left-right rotating shaft 7 is rotatably fitted to the base 6 via a bearing (not shown). The rack portion 5 is rotatable in the left-right direction about the left-right rotation shaft 7.

Further, a left-right rotation angle detector 8 (for example, an encoder) is provided between the left-right rotation shaft 7 and the pedestal 6 to detect a left-right rotation angle (an angle in a rotation direction about the left-right rotation shaft 7). It is being The left-right rotation angle detector 8 detects the relative rotation angle of the support section 5 with respect to the pedestal 6 in the left-right direction.

A left-right rotating gear 9 is fixed to the pedestal 6 concentrically with the left-right rotating shaft 7, and a left-right pinion gear 11 meshes with the left-right rotating gear 9. The rack portion 5 is provided with left and right motors 12, and the left and right pinion gears 11 are fixed to the output shafts of the left and right motors 12.

Driven by the left and right motors 12, the left and right pinion gears 11 rotate, and the left and right pinion gears 11 revolve around the left and right rotating gears 9. Furthermore, the pedestal section 5 and the surveying device main body 3 rotate together. The surveying device main body 3 is then rotated in the left-right direction by the left-right motor 12.

The rack portion 5 has a concave shape with a concave portion, and the surveying device main body 3 is housed in the concave portion. The surveying device main body 3 is supported by the holder 5 via a vertical rotation shaft 13, and is freely rotatable in the vertical direction about the vertical rotation shaft 13.

A vertical rotation gear 14 is fitted and fixed to one end of the vertical rotation shaft 13. A vertical pinion gear 15 meshes with the vertical rotating gear 14 . The vertical pinion gear 15 is fixed to the output shaft of a vertical motor 16 provided on the support section 5. By driving the vertical motor 16, the vertical pinion gear 15 is rotated, and the surveying apparatus main body 3 is further rotated via the vertical rotation gear 14 and the vertical rotation shaft 13. Thus, the surveying device main body 3 is rotated in the vertical direction by the vertical motor 16. Note that the left and right motors 12 and the vertical motor 16 constitute a rotation drive section.

Further, a vertical rotation angle detector 17 (for example, an encoder) is provided at one end of the vertical rotation shaft 13 to detect a vertical rotation angle (an angle in a rotation direction about the vertical rotation shaft 13). The vertical rotation angle detector 17 detects the vertical rotation angle of the surveying device main body 3 with respect to the cradle portion 5.

Through cooperation between the left and right motors 12 and the vertical motors 16, the surveying device main body 3 can be directed in a desired direction. Incidentally, the support portion 5 and the pedestal 6 constitute a support portion of the surveying device main body 3. Further, the left and right motors 12 and the up and down motors 16 constitute a rotation driving section of the surveying device main body 3. Furthermore, the horizontal rotation angle detector 8 and the vertical rotation angle detector 17 constitute an angle detector that detects the horizontal rotation angle and the vertical rotation angle of the surveying device main body 3.

The drive of the left and right motors 12 and the vertical motor 16 is controlled by a calculation control section (described later) of the surveying device main body 3. The horizontal rotation angle and the vertical rotation angle detected by the horizontal rotation angle detector 8 and the vertical rotation angle detector 17 are input to the calculation control section. The data acquired by the surveying device main body 3, that is, data on left and right rotation angles, vertical rotation angles, distance measurement data to be described later, etc., are stored in a storage unit (described later). Further, various data acquired by the surveying device main body 3 are transmitted to a terminal device, a PC, etc.

In addition, when the measurement range by the surveying device 1 is within the range of the declination angle by the optical axis deflection unit (described later), or when the direction of the reference optical axis O of the optical axis deflection unit is manually initialized. The left and right motors 12, the left and right rotation angle detector 8, the vertical motor 16, the vertical rotation angle detector 17, etc. can be omitted.

Referring to FIG. 2, a schematic configuration of the surveying device main body 3 will be described.

The surveying device main body 3 includes a distance measurement section 18, an arithmetic control section 19, a communication section 20, a storage section 21, an image processing section 22, an optical axis deflection section 23, an attitude detector 24, an imaging section 25, and an emission direction detection section 26. , a display section 28, which are housed in a housing 29 and integrated.

The distance measuring section 18 and the optical axis deflecting section 23 are arranged on the reference optical axis O. The distance measuring section 18 has a distance measuring optical axis 31 passing through the center of the optical axis deflecting section 23 . The distance measuring section 18 emits a visible laser beam as a distance measuring light 32 onto the distance measuring optical axis 31, receives reflected distance measuring light 33 incident from above the distance measuring optical axis 31, and receives the reflected distance measuring light 33 incident from above the distance measuring optical axis 31. The object to be measured is measured based on the distance light 33. Note that the distance measuring section 18 functions as a light wave distance meter. Further, the distance measuring section 18 also functions as a guiding light irradiation section that irradiates the distance measuring light 32 as guiding light.

The communication section 20 has a function of enabling communication between the surveying device main body 3 and an external device such as a PC or a mobile terminal such as a smartphone or a tablet.

The optical axis deflecting unit 23 deflects the distance measuring optical axis 31 and collimates the distance measuring light 32 onto the object to be measured. When the optical axis deflecting section 23 does not deflect the ranging optical axis 31, the ranging optical axis 31 and the reference optical axis O match. As for the optical axis deflection section 23, the one disclosed in Patent Document 1 can be used.

As the laser beam, either continuous light, pulsed light, or intermittent modulated ranging light (burst light) shown in Patent Document 2 may be used. Note that pulsed light and intermittent modulated light are collectively referred to as pulsed light.

The storage unit 21 stores an imaging control program, a display program, a tilt calculation program for calculating the tilt angle and tilt direction of the surveying device main body 3 based on the detection results from the attitude detector 24, and distance measurement and angle measurement programs. A measurement program to be executed, a deflection control program to control the deflection direction of the optical axis deflection section 23, a guidance program to sequentially guide a measurement object such as a prism to a plurality of measurement points (staking points), Various programs are stored, such as an image processing program for correcting a tilted image to a vertical image, a tracking program for tracking an object to be measured, and an arithmetic program for executing various calculations. Further, the storage unit 21 stores various data such as distance measurement data, angle measurement data, and image data. Further, the storage unit 21 stores in advance a two-dimensional map, which is a horizontal plan view, having positional information of measurement points for pile driving (described later). Note that the position information in the two-dimensional map is two-dimensional plane coordinates without height information, but may be three-dimensional coordinate data.

The arithmetic control section 19 develops and executes the various programs according to the operating state of the surveying device main body 3 to control the distance measuring section 18, the optical axis deflection section 23, and the imaging section 25. Performs control etc. and performs measurements. Note that as the arithmetic control section 19, a CPU specialized for this device or a general-purpose CPU is used.

Further, as the storage section 21, various storage means are used, such as an HDD as a magnetic storage device, a built-in memory as a semiconductor storage device, a memory card, and a USB memory. The storage unit 21 may be removably attached to the housing 29. Alternatively, the storage unit 21 may be able to send data to an external storage device or an external data processing device via a desired communication means.

The optical axis deflection section 23 will be explained. The optical axis deflection section 23 includes a pair of optical prisms 34 and 35. The optical prisms 34 and 35 are disk-shaped with the same diameter, and are arranged concentrically on the ranging optical axis 31, orthogonal to the ranging optical axis 31, and arranged in parallel at predetermined intervals. . By controlling the relative rotation of the optical prisms 34 and 35 and the integral rotation of the optical prisms 34 and 35, the ranging optical axis can be set at any angle from 0° to the maximum deviation angle with respect to the reference optical axis O. 31 can be deflected.

Further, while continuously irradiating the distance measuring light 32, the optical prisms 34 and 35 are continuously driven and continuously deflected, so that the distance measuring light 32 is focused on the reference optical axis O. Two-dimensional scanning can be performed along a predetermined trajectory.

Examples of the predetermined locus include a petal shape (inner trochoidal curve), a linear shape, a circular shape, and the like. By individually controlling the optical prisms 34 and 35, it is possible to scan in any shape.

Next, the attitude detector 24 will be explained. The attitude detector 24 detects the inclination of the housing 29 (that is, the surveying device main body 3) with respect to the horizontal in real time. As the attitude detector 24, for example, a tilt sensor or an acceleration sensor is used, or the attitude detector disclosed in Patent Document 3 can also be used. The detection result of the attitude detector 24 is input to the calculation control section 19 and stored in the storage section 21.

The emission direction detection unit 26 detects the relative rotation angle of the optical prisms 34 and 35 and the integral rotation angle of the optical prisms 34 and 35, and determines the deflection direction (emission direction) of the distance measuring optical axis 31 for each pulsed light. to be detected in real time.

The emission direction detection result (angle measurement result) is input to the calculation control section 19 in association with the distance measurement result. The calculation control unit 19 calculates three-dimensional coordinates of the object to be measured based on the installation position of the surveying device main body 3 based on the distance measurement results and the emission direction detection results, and stores the three-dimensional coordinates in the storage unit 21. Note that when the distance measuring light 32 is emitted in bursts, distance measurement and angle measurement are performed for each intermittent distance measuring light.

The imaging section 25 has an imaging optical axis 36 . The imaging unit 25 is a camera having an angle of view of, for example, 50° to 60°, which is approximately equal to the maximum deviation angle θ/2 (eg, ±30°) of the optical prisms 34 and 35. The relationship between the imaging optical axis 36, the distance measuring optical axis 31, and the reference optical axis O is known, and the distance between each optical axis is also a known value.

Further, the imaging unit 25 is capable of acquiring still images, continuous images, or moving images in real time. The image acquired by the imaging section 25 is transmitted to the display section 28. The center of the acquired image coincides with the imaging optical axis 36, and the reference optical axis O is at a position shifted by a predetermined angle from the center of the image based on a known relationship with the imaging optical axis 36. Become.

The calculation control section 19 controls imaging by the imaging section 25. When the image capturing unit 25 captures a moving image or continuous images, the arithmetic control unit 19 determines the timing of acquiring frame images constituting the moving image or continuous images and the timing of scanning with the surveying device main body 3. are synchronized. That is, the arithmetic control unit 19 also associates images with measurement data (distance measurement and angle measurement data).

The image sensor (not shown) of the image sensor 25 is a CCD or CMOS sensor that is a collection of pixels, and the position of each pixel on the image element can be specified. For example, each pixel has pixel coordinates with the imaging optical axis 36 as the origin, and the position on the image element is specified by the pixel coordinates. Furthermore, since the relationship (distance) between the imaging optical axis 36 and the reference optical axis O is known, it is possible to correlate the measurement position by the distance measuring section 18 with the position (pixel) on the imaging device. It is. Image signals from the image sensor and coordinate information associated with pixels are input to the image processing section 22 via the calculation control section 19.

Next, referring to FIG. 3, the measurement operation of the surveying apparatus 1 in this embodiment will be explained. The following measurement operations are performed by the arithmetic control section 19 executing a program stored in the storage section 21.

The surveying device 1 with the surveying device main body 3 mounted on the tripod 2 is installed on a reference point having known coordinates. At this time, since the attitude detector 24 can detect the inclination of the surveying device main body 3 with respect to the horizontal, leveling of the surveying device main body 3 is not necessary.

Further, a target device 44 is provided at a predetermined measurement point (staking point) 43 as a measurement object. The target device 44 has a pole 45 with a circular cross section and a pointed lower end, and a disc-shaped reference reflection section 46 that is provided in the middle of the pole 45 and has a larger diameter than the pole 45. A reflective sheet having retroreflectivity is wound around the entire circumference of the pole 45 and the reference reflecting section 46 . The reference reflecting section 46 is provided at a predetermined position from the lower end of the pole 45. The center of the reference reflecting section 46 serves as a reference point, and the distance of the reference point from the lower end of the pole 45 is known.

When measuring the measurement point 43, the surveying device main body 3 is roughly directed toward the target device 44, and a search scan is performed on the reference reflection section 46. The distance measurement light 32 is emitted from the distance measurement section 18, the rotation of the optical axis deflection section 23 is controlled, and the reference reflection is determined based on the obtained direction (horizontal angle, vertical angle) of the reference reflection section 46. A search scan is performed in the vicinity of the section 46. At this time, the shape of the search scan is, for example, a figure-eight two-dimensional closed loop pattern.

When the search scan is executed, the calculation control unit 19 calculates the inclination of the pole 45 and the three-dimensional coordinates of the reference point based on the measurement results of the pole 45 and the reference reflection unit 46. Further, the arithmetic control section calculates the three-dimensional coordinates of the measurement point 43 based on the three-dimensional coordinates of the reference point, the inclination of the pole 45, and the distance from the lower end of the pole 45 to the reference point.

Further, the target device 44 can be tracked by the arithmetic control section 19 controlling the optical axis deflection section 23 so that the center of the figure 8 coincides with the reference point. Note that for measuring and tracking the target device 44 by figure-eight scanning, the method shown in Patent Document 4 can be used.

Next, the guidance effect using the surveying device 1 will be explained with reference to FIGS. 4(A) to 4(F). The following guiding action is performed by the arithmetic control section 19 executing a program stored in the storage section 21. Note that in FIGS. 4(A) to 4(F), the measurement surface 47 having the plurality of measurement points 43 is the ground or floor surface, and is a plane having a predetermined inclination.

As shown in FIG. 4(A), first, the surveying device 1 is installed at a reference point R having known three-dimensional coordinates, and the lower end of the pole 45 and the first measurement point 43a are aligned. In this state, the surveying device 1 is caused to track and measure the target device 44, and the three-dimensional coordinates of the first measurement point 43a with reference point R as a reference are calculated. Alternatively, the target device 44 may be installed at the reference point R, the surveying device 1 may be installed at an arbitrary location, and the three-dimensional coordinates of the surveying device 1 with reference to the reference point R may be calculated. In either case, the target device 44 does not need to be leveled vertically, and may be tilted arbitrarily.

When the measurement at the first measurement point 43a is completed and the marking for the first measurement point 43a is completed, the next measurement point (second measurement point 43b) is assigned to the surveying device 1 using a mobile terminal (not shown) or the like. Start guiding. A two-dimensional map including positional information of each measurement point 43 is stored in advance in the storage unit 21 . The calculation control unit 19 moves from the first measurement point 43a around the reference point R to the second measurement point 43a based on the position information of the first measurement point 43a and the second measurement point 43b in the two-dimensional map. The horizontal rotation angle, the vertical rotation angle, and the horizontal rotation angle up to the second measurement point 43b are calculated.

As shown in FIG. 4(B), the calculation control section 19 drives the left and right motors 12 to rotate the surveying device main body 3 based on the calculated left and right rotation angles. Alternatively, based on the calculated vertical rotation angle and horizontal rotation angle, the left and right motors 12 and the vertical motor 16 are driven to rotate the surveying device main body 3. After the surveying device body 3 is rotated, as shown in FIG. 4(C), the distance measuring light 32 is rotated along the measurement surface 47 so that the trajectory 48 of the distance measurement light 32 passes through the second measurement point 43b. Scan with axis. Note that the direction in which the distance measuring light 32 is uniaxially scanned may be a direction perpendicular to the surface of the two-dimensional map (normal direction), that is, a vertical direction. Incidentally, the scan distance of the distance measuring light 32, that is, the declination angle α of the distance measuring optical axis 31 is appropriately determined depending on the position of the measuring surface 47, etc.

Point group data is acquired along the trajectory 48 by uniaxial scanning, and three-dimensional coordinates are calculated for each point. The arithmetic control unit 19 compares the plane (two-dimensional) coordinates obtained by removing height information from each point of the point cloud data with the plane coordinates of the second measurement point 43b in the two-dimensional map, and determines whether they match or not. Determine whether there are similar points.

Note that each point of the point group data may not exist within a predetermined threshold value set in advance from the plane coordinates of the second measurement point 43b. In this case, the operator is notified by an alarm or the like, the point cloud acquisition interval is changed, and the 1-axis scan is performed again along the same trajectory.

If there is a point that matches or most closely approximates the second measurement point 43b in the two-dimensional map, the calculation control unit 19 selects this point as the provisional second measurement point 43b. Alternatively, at least two points closest to the second measurement point 43b in the two-dimensional map are selected from each point on the trajectory 48, and on a straight line connecting the two points, the second measurement point in the two-dimensional map is selected. The point closest to the measurement point 43b may be calculated as the provisional second measurement point 43b.

After selecting the provisional second measurement point 43b, as shown in FIG. The optical axis deflection unit 23 is controlled so as to draw a circular locus 49 with a predetermined radius centered on the point 43b.

Next, as shown in FIG. 4E, the operator moves the target device 44 using the trajectory 49 as a mark, so that the lower end of the pole 45 is at the center of the trajectory 49 (temporarily the second The target device 44 is approximately installed so as to coincide with the measurement point 43b) (general guidance).

After the general installation, the operator causes the surveying device 1 to start tracking the target device 44 via a mobile terminal. The calculation control unit 19 calculates in real time the difference between the lower end of the pole 45 and the second measurement point 43b in the two-dimensional map based on the measurement results of the pole 45 and the reference reflection unit 46, and The calculation result is transmitted to the mobile terminal via the communication unit 20.

As shown in FIG. 4(F), the operator adjusts the target device so that the lower end of the pole 45 matches the second measurement point 43b based on the calculation result (guidance information) displayed on the mobile terminal. 44 (precision guidance).

Finally, by marking the second measurement point 43b, the guidance process from the first measurement point 43a to the second measurement point 43b is completed. For the third and subsequent measurement points, the same guidance process as described above is performed.

As described above, in the first embodiment, the distance measuring light 32 of visible light is configured to point to the position of the next measurement point 43 based on the two-dimensional map stored in the storage section 21 in advance. There is.

Therefore, the operator can visually confirm the next measurement point 43 and easily move the target device 44 to the vicinity of the measurement point 43, thereby improving work efficiency.

Further, in the first embodiment, scanning is performed in one axis in the normal direction of the two-dimensional map, and the approximate position of the measurement point 43 is determined based on the obtained point group data. Therefore, since it is not necessary to scan the entire 360° circumference, it is possible to shorten the acquisition time of point cloud data. Further, the amount of data required to determine the approximate position of the measurement point 43 is reduced, and calculation time can be shortened.

Furthermore, since the amount of data for determining the approximate position is reduced, it is possible to easily cope with changes in the scanning direction, such as changing the position or orientation of the surveying device 1.

Further, the surveying device 1 tracks the target device 44 after the target device 44 has been roughly guided. Therefore, since the tracking distance becomes short, it is possible to prevent tracking from being interrupted due to obstructions or the like.

Further, the two-dimensional map is a horizontal two-dimensional plan view without height information. Therefore, even if the measurement surface 47 has unevenness, the position of the measurement point 43 in real space can be directly indicated without being affected by the unevenness.

In the first embodiment, a pair of optical prisms 34 and 35 are used as the optical axis deflection section 23. On the other hand, as the optical axis deflection unit 23, a galvanometer mirror is used which is a combination of a mirror rotatable around a predetermined rotation axis and a mirror rotatable around a rotation axis perpendicular to the rotation axis of the mirror. You can.

Further, in the first embodiment, the distance measuring light 32 is a visible light, and the distance measuring section 18 also serves as a guiding light irradiating section, but the distance measuring section 18 and the guiding light irradiating section are each It can be made independent. For example, a guide light irradiation unit that irradiates a laser pointer light coaxially with the distance measuring light 32 may be separately provided in the surveying device main body 3. In this case, in the rough guidance step and the precise guidance step, laser pointer light can be irradiated to guide the target device 44 with the laser pointer light.

Furthermore, the guiding light irradiation unit may be externally attached to the surveying device main body 3. In this case, a guiding light irradiation unit is provided in the surveying device main body 3 so that the amount of offset of the optical axis of the laser pointer light with respect to the distance measuring optical axis 31 is known. In the general guidance process and the precision guidance process, the left and right motors 12 and the up and down motors 16 work together to rotate the guidance light irradiation section together with the surveying device main body 3, so that the laser pointer The target device 44 can be guided by light. Note that when the distance measuring section 18 and the guiding light irradiation section are provided independently, the distance measuring light 32 can be invisible light.

In the first embodiment, the guidance process is performed using the ground or floor as the measurement surface 47, but the measurement surface 47 may be, for example, a wall surface or a ceiling surface. 5 and 6 show the guidance process when the measurement surface 51 is a flat wall surface.

Even when a wall surface is used as the measurement surface 51, the surveying device 1 is installed on the ground or floor surface. In this case, the angle and direction of inclination of the measurement surface 51 are unknown. Therefore, as shown in FIG. 6, the calculation control section 19 first measures at least three arbitrary points 52a, 52b, 52c on the measurement surface 51, and uses the measurement results of the three points 52a, 52b, 52c. Based on this, the inclination angle and direction of the measurement surface 51 are calculated.

After calculating the inclination angle and direction of the measurement surface 51, guidance processing is performed in the same manner as when the ground or floor surface is used as the measurement surface. That is, the arithmetic control unit 19 calculates one of the horizontal rotation angle and the vertical rotation angle up to the next measurement point 43 calculated from the two-dimensional map 53, or the horizontal rotation angle and the vertical rotation angle based on the horizontal rotation angle and the vertical rotation angle. The surveying device main body 3 is rotated and uniaxial scanning is performed along the measurement surface 51 so that the trajectory 48 of the distance measurement light 32 passes the next measurement point 43. At this time, the scanning direction is perpendicular to the two-dimensional map 53 (normal direction). Further, the arithmetic control unit 19 selects a point in the two-dimensional map 53 that is closest to the next measurement point 43 as a provisional measurement point, and performs rough guidance based on the trajectory 49 centered on the provisional measurement point. is executed.

Furthermore, as shown in FIG. 7, a curved surface having irregularities may be used as the measurement surface 54. The measurement surface 54 has, for example, three reference points 55a, 55b, and 55c. The reference points 55a, 55b, and 55c have two-dimensional plane coordinates and offset values in the height direction (depth direction). The offset value is an offset value in the height direction with respect to the two-dimensional map 56. Based on the measurement results of the reference points 55a, 55b, and 55c and the offset value with respect to the two-dimensional map 56, the inclination of the two-dimensional map 56 as shown in FIG. 8 is grasped.

Here, each reference point 55a, 55b, 55c has a plane coordinate and an offset value in the height direction (normal direction) with respect to the two-dimensional map 56, so the offset value in the normal direction with respect to the two-dimensional map 56 By displaying the values, the reference points 55a, 55b, and 55c can be represented in the two-dimensional map 56.

Further, by creating the two-dimensional map 56, the surface shape of the measurement surface 54 can be grasped. The guidance process after the surface shape of the measurement surface 54 is grasped is the same as in the case where the measurement surface is a flat surface, so a description thereof will be omitted.

Thus, in the first embodiment, the measurement point 43 can be guided regardless of the position, inclination, or shape of the measurement surface. Furthermore, even if the position of the measurement surface is different, such as a floor surface, a wall surface, or a ceiling surface, there is no need to change the installation position of the surveying device 1.

Next, referring to FIG. 9, a second embodiment of the present invention will be described. In FIG. 9, the same components as those in FIG. 2 are given the same reference numerals, and their explanations will be omitted.

A surveying device 61 in the second embodiment includes a leveling section 62 provided on a tripod 2 (see FIG. 3), a total station 63 as a first surveying device provided on the leveling section 62, and a total station 63 as a first surveying device provided on the leveling section 62. It has a one-axis two-dimensional laser scanner 64 as a second surveying device provided on the total station 63. As the surveying device 61 in which the two-dimensional laser scanner 64 is provided on the total station 63, for example, the device disclosed in Patent Document 5 can be used.

The total station 63 has a first measurement reference point. For example, a point where the optical axis (first distance measurement optical axis) of the telescope section 65 in which the distance measurement section is built in intersects with the axis 66a of the vertical rotation axis 66 is set as the first measurement reference point.

Further, the total station 63 has a rack section 67, which includes an arithmetic control section 68, a communication section 69, a storage section 71, and a left-right rotation drive section 72 that rotates the rack section 67 in the left-right direction. , a vertical rotation drive unit 73 that rotates the telescope section 65 in the vertical direction, a horizontal angle detector 74 that detects the horizontal angle of the cradle section 67, a vertical angle detector 75 that detects the vertical angle of the telescope section 65, etc. is built-in. Note that the horizontal rotation drive section 72 and the vertical rotation drive section 73 constitute a first rotation drive section. Further, the telescope section 65 and the cradle section 67 constitute a first surveying device main body.

The arithmetic control section 68 controls the distance measurement operation of the distance measurement section, the horizontal drive of the horizontal rotation drive section 72, the vertical drive of the vertical rotation drive section 73, etc., and also controls the distance measurement results of the distance measurement section and the horizontal It is configured to calculate the three-dimensional coordinates of the measurement point based on the detection results of the angle detector 74 and the vertical angle detector 75.

The two-dimensional laser scanner 64 is screwed onto the top surface of the total station 63 via a predetermined attachment member 76. Furthermore, the two-dimensional laser scanner 64 has a second measurement reference point. The second measurement reference point is, for example, a point where the distance measurement optical axis (second distance measurement optical axis) of the two-dimensional laser scanner 64 and the axis 77a of the vertical rotation axis 77 intersect. The second reference point is located on a vertical line passing through the first reference point, and the amount of offset of the second measurement reference point with respect to the first measurement reference point is known.

The two-dimensional laser scanner 64 also has a holder 78 in which a recess is formed in the center, and a calculation control section 79, a communication section 81, a storage section 82, and a distance measurement section 83 are installed in the mount 78. , a vertical rotation drive unit 85 that vertically rotates a scanning mirror 84 as an optical axis deflection unit housed in the recess, a vertical angle detector 86 that detects the vertical angle of the scanning mirror 84, etc. are built in. . Note that the left-right rotation drive section 72 and the vertical rotation drive section 85 constitute a second rotation drive section. Further, the holder portion 78 and the scanning mirror 84 constitute a second surveying device main body. Note that the distance measuring section 83 also functions as a guiding light irradiation section that irradiates the visible distance measuring light 32 as guiding light.

The arithmetic control section 79 controls the distance measurement operation of the distance measurement section 83 and the vertical drive of the vertical rotation drive section 85, and also controls the distance measurement results of the distance measurement section 83 and the detection of the vertical angle detector 86. It is configured to calculate two-dimensional coordinates of the measurement point based on the results.

Although the total station 63 and the two-dimensional laser scanner 64 are provided with the arithmetic control sections 68 and 79, respectively, the arithmetic control section 79 is omitted and the arithmetic control section 68 is provided with the total station 63 and the two-dimensional laser scanner 64. Both laser scanners 64 may be controlled.

Further, the storage units 71 and 82 store programs equivalent to those in the storage unit 21 in the first embodiment.

When the two-dimensional laser scanner 64 rotates the scanning mirror 84 with the surveying device 61 leveled by the leveling section 62, the distance measuring light scans along the measurement surface in the vertical direction in one axis. be done. That is, uniaxial scanning is performed in a direction perpendicular (normal direction) to a horizontal two-dimensional map.

Next, the guidance effect using the surveying device 61 will be explained with reference to FIGS. 10(A) to 10(F). Note that in FIGS. 10(A) to 10(F), a measurement surface 88 having a plurality of measurement points 87 is the ground or a floor surface, and is a plane having a predetermined inclination.

As shown in FIG. 10(A), first, the surveying device 61 is installed at a reference point R having known three-dimensional coordinates, and is leveled by the leveling section 62. The lower end of the target device 89 and the first measurement point 87a are aligned and leveled vertically. In the second embodiment, the target device 89 has a prism 89a provided at a known position from the lower end, and a level (not shown) for vertically leveling the target device 89. are doing.

In this state, the total station 63 of the surveying device 61 is caused to track and measure the target device 89, and the three-dimensional coordinates of the first measurement point 87a with respect to the reference point R are calculated. Alternatively, the target device 89 may be installed at a reference point R, and the three-dimensional coordinates of the surveying device 61 with reference to the reference point R may be calculated.

When the measurement at the first measurement point 87a is completed and the marking for the first measurement point 87a is completed, the next measurement point (second measurement point 87b) is assigned to the surveying device 61 using a mobile terminal (not shown) or the like. Start guiding. A two-dimensional map including positional information of each measurement point 87 is stored in advance in the storage unit 71. The calculation control unit 68 moves from the first measurement point 87a centered on the reference point R to the second measurement point 87a based on the position information of the first measurement point 87a and the second measurement point 87b in the two-dimensional map. The left and right rotation angles, or the left and right rotation angles and the up and down rotation angles up to the second measurement point 87b are calculated.

As shown in FIG. 10(B), the calculation control unit 68 controls the left and right rotation drive unit 72 or the vertical rotation drive unit 73 based on the calculated left and right rotation angle, or the left and right rotation angle and the vertical rotation angle. , 85 are driven to rotate the support section 67. After the rotation of the holder 67, the two-dimensional laser scanner 64 rotates the scanning mirror 84 as shown in FIG. A uniaxial scan is performed along the measurement surface 88 so as to pass through 87b. At this time, the direction in which the distance measuring light 32 is scanned is the vertical direction. Further, the rotation angle α (scan range) of the scanning mirror 84 is appropriately set depending on the position of the measurement surface 88, such as a floor surface or a ceiling surface. This can prevent surfaces other than the measurement surface 88 from being measured.

Point group data along the trajectory 91 is acquired by uniaxial scanning, and three-dimensional coordinates are calculated for each point. The calculation control unit 68 compares the plane (two-dimensional) coordinates obtained by removing the height information from each point of the point cloud data with the plane coordinates of the second measurement point 87b in the two-dimensional map, and determines whether they match or not. Determine whether there is a point that is the closest fit.

Note that each point of the point group data may not exist within a predetermined threshold value set in advance from the plane coordinates of the second measurement point 87b. In this case, the operator is notified by an alarm or the like, the point cloud acquisition interval is changed, and the uniaxial scan in the vertical direction is performed again.

If there is a point that matches or most closely approximates the second measurement point 87b in the two-dimensional map, the calculation control unit 68 selects this point as the second measurement point 87b. Alternatively, at least two points closest to the second measurement point 87b in the two-dimensional map are selected from each point on the trajectory 91, and on a straight line connecting the two points, the second measurement point in the two-dimensional map is selected. The point closest to the measurement point 87b may be calculated as the provisional second measurement point 87b.

After selecting the provisional second measurement point 87b, as shown in FIG. The vertical rotation drive unit 85 is controlled so that the light is irradiated. Note that the distance measuring light from the total station 63 or the two-dimensional laser scanner 64 may be irradiated onto the temporary second measuring point 87b.

As shown in FIG. 10(E), the operator moves the target device 89 using the irradiation point of the distance measurement light 32 as a mark, so that the lower end of the target device 89 is the irradiation point of the distance measurement light 32 ( The target device 89 is approximately installed so as to coincide with the provisional second measurement point 87b) (general guidance).

After the general installation, as shown in FIG. 10(F), the operator causes the surveying device 61 to start tracking the target device 89 via a mobile terminal. The calculation control unit 68 calculates the difference between the lower end of the target device 89 and the second measurement point 87b in real time based on the measurement result of the prism, and transmits the calculation result to the mobile terminal via the communication unit 69. Induce.

Based on the calculation result (guidance information) displayed on the mobile terminal, the operator installs the target device 89 so that the lower end of the target device 89 matches the second measurement point 87b (precision guidance).

Finally, by marking the second measurement point 87b, the guidance process from the first measurement point 87a to the second measurement point 87b is completed. For the third and subsequent measurement points, the same guidance process as described above is performed.

As described above, in the second embodiment as well, the position of the next measurement point 87 is pointed to using the distance measuring light 32 of visible light based on the two-dimensional map stored in advance in the storage section 71. It is configured.

Therefore, the operator can visually confirm the next measurement point 87 and easily move the target device 89 to the vicinity of the measurement point 87, thereby improving work efficiency.

Also in the second embodiment, the measurement surface 88 is scanned in one axis, and the approximate position of the measurement point 87 (temporary measurement point) is determined based on the obtained point cloud data. There is. Therefore, since it is not necessary to scan the entire 360° circumference, it is possible to shorten the acquisition time of point cloud data. Furthermore, the amount of data required to determine the approximate position of the measurement point 87 is reduced, and calculation time can be shortened.

Furthermore, since the amount of data for determining the approximate position is reduced, it is possible to easily cope with changes in the scanning direction, such as by changing the position or orientation of the surveying device 61.

Furthermore, the surveying device 61 tracks the target device 89 after roughly guiding the target device 89. Therefore, since the tracking distance becomes short, it is possible to prevent tracking from being interrupted due to obstructions or the like.

In the second embodiment, the surveying device 61 is leveled and uniaxial scanning is performed in the vertical direction, but the surveying device 61 is installed perpendicularly to the measurement surface 88 and the two-dimensional map is A uniaxial scan may be performed in a direction perpendicular to the object (normal direction).

In the second embodiment, the distance measuring light 32 is a visible light, and the distance measuring section 83 also serves as a guiding light irradiating section, but the distance measuring section 83 and the guiding light irradiating section are each It may be made independent. For example, a guide light irradiation unit that irradiates a laser pointer light coaxially with the distance measuring light 32 may be separately provided in the two-dimensional laser scanner 64. In this case, in the rough guidance step and the precise guidance step, the target device 89 can be guided by irradiating laser pointer light.

Further, the guiding light irradiation section may be attached externally to the telescope section 65, for example. In this case, a guiding light irradiation section is provided in the telescope section 65 so that the amount of offset of the optical axis of the laser pointer light with respect to the distance measuring optical axis 31 is known. In addition, in the general guidance process and the precision guidance process, the guiding light irradiation part is rotated integrally with the telescope part 65 by cooperation of the left and right rotation drive part 72 and the vertical rotation drive part 73. The target device 89 can be guided by laser pointer light. Note that when the distance measuring section 83 and the guiding light irradiation section are provided independently, the distance measuring light can be invisible light.

Further, in the second embodiment, the guidance process is performed using the ground or the floor as the measurement surface, but the measurement surface may be, for example, a wall surface or a ceiling surface. FIG. 11 shows the guidance process when the measurement surface 92 is a flat wall surface.

When a wall surface is used as the measurement surface 92, the surveying device 61 is installed on the measurement surface 92 so as to be perpendicular to the measurement surface 92 . As for the subsequent processing, guidance processing is performed in the same manner as when the ground or floor surface is used as the measurement surface. That is, the holder 67 is rotated based on the horizontal rotation angle to the next measurement point 87 calculated from the two-dimensional map 93, or the horizontal rotation angle and the vertical rotation angle, so that the trajectory 91 of the distance measuring light 32 is A uniaxial scan is performed along the measurement surface 92 so as to pass the next measurement point 87. At this time, the scanning direction is, for example, a direction perpendicular to the two-dimensional map 93 (normal direction). Further, the arithmetic control unit 68 selects the point closest to the next measurement point 87 in the two-dimensional map 93 as a provisional measurement point, and calculates the distance based on the distance measurement light 32 irradiated to the point. A general guidance is performed.

Furthermore, as shown in FIG. 12, a curved surface having unevenness may be used as the measurement surface 94. The measurement surface 94 is also similar to the measurement surface 88. That is, the surveying device 61 is installed so as to be perpendicular to the installation position of the measurement surface 94, and the left-right rotation angle to the next measurement point 87 calculated from the two-dimensional map 93 or the left-right rotation angle is calculated from the two-dimensional map 93. The holder 67 is rotated based on the vertical rotation angle and scanned with one axis in a direction perpendicular to the two-dimensional map 93 (normal direction), and the next measurement point in the two-dimensional map 93 is The point closest to 87 is selected as a temporary measurement point, and rough guidance is performed based on the ranging light 32 irradiated to the temporary measurement point.

Therefore, in the second embodiment as well, the measurement point 87 can be guided regardless of the position, inclination, or shape of the measurement surface.

1 Surveying device 3 Surveying device main body 18 Distance measuring section 19 Arithmetic control section 23 Optical axis deflection section 32 Distance measuring light 33 Reflected ranging light 43 Measurement point 44 Target device 47 Measurement surface 51 Measurement surface 53 Two-dimensional map 54 Measurement surface 55 Reference Point 56 2D map 61 Surveying device 63 Total station 64 2D laser scanner 68 Arithmetic control section 79 Arithmetic control section 83 Distance measuring section 84 Scanning mirror 87 Measurement point 88 Measurement surface 89 Target device 92 Measurement surface 93 2D map 94 Measurement surface

Claims (12)

The surveying device main body includes a distance measuring section that emits distance measuring light toward an object to be measured and measures a distance based on the distance measuring light reflected from the object to be measured; an optical axis deflection unit capable of scanning light in at least one axis; a storage unit that stores a two-dimensional map having position information of a plurality of measurement points; and an operation that controls operations of the distance measuring unit and the optical axis deflection unit. The arithmetic control unit is configured to calculate the two-dimensional coordinates of each point obtained along the trajectory of the ranging light excluding the height, and the two-dimensional coordinates of the points in the two-dimensional map. It is configured to compare the position information of the measurement point with the position information of the measurement point and select a point within a preset threshold range from the position information of the measurement point as the measurement point,
A surveying device configured to calculate a rotation angle from a predetermined measurement point to the next measurement point based on the two-dimensional map, and rotate the surveying device main body based on the rotation angle . 2. The surveying apparatus according to claim 1 , further comprising a guide light irradiation unit that irradiates guide light, and wherein the arithmetic and control unit is configured to instruct the selected measurement point with the guide light. 3. The surveying apparatus according to claim 2 , wherein the guiding light irradiation section is the distance measuring section, and the guiding light is visible distance measuring light. The surveying apparatus according to claim 2 , wherein the guide light irradiation unit is configured to irradiate a laser pointer light coaxially with the distance measuring light. The guide light irradiation section is configured to irradiate the laser pointer light with a known offset amount with respect to the optical axis of the distance measurement light, and the guide light irradiation section is configured to irradiate the laser pointer light with a known offset amount with respect to the optical axis of the distance measurement light, and the guide light irradiation section is configured to irradiate the laser pointer light with a known offset amount with respect to the optical axis of the distance measurement light. The surveying device according to claim 2, wherein the surveying device is configured to rotate integrally with the surveying device main body. The optical axis deflecting unit is a pair of optical prisms that are rotatable around the optical axis of the distance measuring light, and the irradiation of the distance measuring light is controlled by controlling the rotation direction, rotation speed, and rotation ratio of the pair of optical prisms. The calculation control unit is configured to control the optical axis deflection unit so that the ranging light draws a circle with a predetermined radius around the selected measurement point. The surveying device according to any one of claims 2 to 4 . It further includes a rotation drive unit that rotates the surveying device main body in the left-right direction or the up-down direction, and the optical axis deflection unit is a scanning mirror that is rotatable about one axis around the optical axis of the distance measuring light, and the said calculation According to any one of claims 2 to 4, the control unit is configured to control the rotation drive unit and the scanning mirror so that the distance measuring light is irradiated to the selected measurement point. Surveying equipment as described. The arithmetic control unit selects the two points closest to the measurement point in the two-dimensional map from among the points obtained along the trajectory of the ranging light, and calculates the distance on the line connecting the selected two points. , the surveying device according to any one of claims 1 to 7, configured to calculate a point closest to the measurement point in the two-dimensional map as the measurement point. Claims 1 to 8, wherein the arithmetic control unit is configured to issue an alarm when each point obtained along the trajectory of the ranging light is not within the range of the threshold value. The surveying device according to any one of the above. Any one of claims 1 to 9 , wherein the arithmetic control unit is configured to control the optical axis deflection unit so as to scan the ranging light in a direction perpendicular to the surface of the two-dimensional map. The surveying device according to item 1. A surveying system comprising a target device installed at a predetermined measurement point and a surveying device capable of tracking the target device, the surveying device emits ranging light toward the target device and tracks the target device. A distance measuring unit that performs distance measurement based on reflected distance measuring light from the device, an optical axis deflection unit that can scan the distance measuring light in at least one axis, and a two-dimensional map having position information of a plurality of measurement points is stored. a storage unit that controls operations of the distance measuring unit and the optical axis deflection unit; The rotation angle to the next measurement point is calculated based on the position information of the point, and the surveying device is rotated based on the rotation angle, and the distance measurement light is uniaxially moved along the measurement surface so that it passes through the next measurement point. Among the three-dimensional coordinates of each point obtained along the trajectory of the ranging light, the two-dimensional coordinates excluding the height are compared with the position information of the measurement point in the two-dimensional map. A surveying system configured to select, as the measurement point, a point within a range of a preset threshold based on the position information of the measurement point. The surveying device further includes a guide light irradiation unit that irradiates guide light, and the arithmetic control unit instructs the selected measurement point with the guide light, and connects the indicated measurement point and the lower end of the target device. 12. The surveying system according to claim 11, wherein the surveying system is configured to move the target device so that the target device matches the target device.

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